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<button id="fuerte" class="btn btn-default" onclick="Version({show:['electric_and_newer', 'fuerte_and_newer', 'fuerte_and_older', 'groovy_and_older', 'hydro_and_older', 'indigo_and_older', 'jade_and_older', 'kinetic_and_older', 'fuerte'], hide:['fuerte_and_newer', 'groovy_and_newer', 'hydro_and_newer', 'indigo_and_newer', 'jade_and_newer', 'kinetic_and_newer', 'electric_and_older', 'fuerte_and_older', 'electric', 'groovy', 'hydro', 'indigo', 'jade', 'kinetic'], target_ros_distro:'fuerte'});this.style.color='#e6e6e6';this.style.background='#3e4f6e';document.getElementById('electric').style.background='#e6e6e6';document.getElementById('electric').style.color='#3e4f6e';document.getElementById('groovy').style.background='#e6e6e6';document.getElementById('groovy').style.color='#3e4f6e';document.getElementById('hydro').style.background='#e6e6e6';document.getElementById('hydro').style.color='#3e4f6e';document.getElementById('indigo').style.background='#e6e6e6';document.getElementById('indigo').style.color='#3e4f6e';document.getElementById('jade').style.background='#e6e6e6';document.getElementById('jade').style.color='#3e4f6e';document.getElementById('kinetic').style.background='#e6e6e6';document.getElementById('kinetic').style.color='#3e4f6e';return false" style="background: rgb(230, 230, 230) none repeat scroll 0% 0%; color: rgb(62, 79, 110);"> fuerte </button>
<button id="groovy" class="btn btn-default" onclick="Version({show:['electric_and_newer', 'fuerte_and_newer', 'groovy_and_newer', 'groovy_and_older', 'hydro_and_older', 'indigo_and_older', 'jade_and_older', 'kinetic_and_older', 'groovy'], hide:['groovy_and_newer', 'hydro_and_newer', 'indigo_and_newer', 'jade_and_newer', 'kinetic_and_newer', 'electric_and_older', 'fuerte_and_older', 'groovy_and_older', 'electric', 'fuerte', 'hydro', 'indigo', 'jade', 'kinetic'], target_ros_distro:'groovy'});this.style.color='#e6e6e6';this.style.background='#3e4f6e';document.getElementById('electric').style.background='#e6e6e6';document.getElementById('electric').style.color='#3e4f6e';document.getElementById('fuerte').style.background='#e6e6e6';document.getElementById('fuerte').style.color='#3e4f6e';document.getElementById('hydro').style.background='#e6e6e6';document.getElementById('hydro').style.color='#3e4f6e';document.getElementById('indigo').style.background='#e6e6e6';document.getElementById('indigo').style.color='#3e4f6e';document.getElementById('jade').style.background='#e6e6e6';document.getElementById('jade').style.color='#3e4f6e';document.getElementById('kinetic').style.background='#e6e6e6';document.getElementById('kinetic').style.color='#3e4f6e';return false" style="background: rgb(230, 230, 230) none repeat scroll 0% 0%; color: rgb(62, 79, 110);"> groovy </button>
<button id="hydro" class="btn btn-default" onclick="Version({show:['electric_and_newer', 'fuerte_and_newer', 'groovy_and_newer', 'hydro_and_newer', 'hydro_and_older', 'indigo_and_older', 'jade_and_older', 'kinetic_and_older', 'hydro'], hide:['hydro_and_newer', 'indigo_and_newer', 'jade_and_newer', 'kinetic_and_newer', 'electric_and_older', 'fuerte_and_older', 'groovy_and_older', 'hydro_and_older', 'electric', 'fuerte', 'groovy', 'indigo', 'jade', 'kinetic'], target_ros_distro:'hydro'});this.style.color='#e6e6e6';this.style.background='#3e4f6e';document.getElementById('electric').style.background='#e6e6e6';document.getElementById('electric').style.color='#3e4f6e';document.getElementById('fuerte').style.background='#e6e6e6';document.getElementById('fuerte').style.color='#3e4f6e';document.getElementById('groovy').style.background='#e6e6e6';document.getElementById('groovy').style.color='#3e4f6e';document.getElementById('indigo').style.background='#e6e6e6';document.getElementById('indigo').style.color='#3e4f6e';document.getElementById('jade').style.background='#e6e6e6';document.getElementById('jade').style.color='#3e4f6e';document.getElementById('kinetic').style.background='#e6e6e6';document.getElementById('kinetic').style.color='#3e4f6e';return false" style="background: rgb(230, 230, 230) none repeat scroll 0% 0%; color: rgb(62, 79, 110);"> hydro </button>
<button id="indigo" class="btn btn-default" onclick="Version({show:['electric_and_newer', 'fuerte_and_newer', 'groovy_and_newer', 'hydro_and_newer', 'indigo_and_newer', 'indigo_and_older', 'jade_and_older', 'kinetic_and_older', 'indigo'], hide:['indigo_and_newer', 'jade_and_newer', 'kinetic_and_newer', 'electric_and_older', 'fuerte_and_older', 'groovy_and_older', 'hydro_and_older', 'indigo_and_older', 'electric', 'fuerte', 'groovy', 'hydro', 'jade', 'kinetic'], target_ros_distro:'indigo'});this.style.color='#e6e6e6';this.style.background='#3e4f6e';document.getElementById('electric').style.background='#e6e6e6';document.getElementById('electric').style.color='#3e4f6e';document.getElementById('fuerte').style.background='#e6e6e6';document.getElementById('fuerte').style.color='#3e4f6e';document.getElementById('groovy').style.background='#e6e6e6';document.getElementById('groovy').style.color='#3e4f6e';document.getElementById('hydro').style.background='#e6e6e6';document.getElementById('hydro').style.color='#3e4f6e';document.getElementById('jade').style.background='#e6e6e6';document.getElementById('jade').style.color='#3e4f6e';document.getElementById('kinetic').style.background='#e6e6e6';document.getElementById('kinetic').style.color='#3e4f6e';return false" style="background: rgb(230, 230, 230) none repeat scroll 0% 0%; color: rgb(62, 79, 110);"> indigo </button>
<button id="jade" class="btn btn-default" onclick="Version({show:['electric_and_newer', 'fuerte_and_newer', 'groovy_and_newer', 'hydro_and_newer', 'indigo_and_newer', 'jade_and_newer', 'jade_and_older', 'kinetic_and_older', 'jade'], hide:['jade_and_newer', 'kinetic_and_newer', 'electric_and_older', 'fuerte_and_older', 'groovy_and_older', 'hydro_and_older', 'indigo_and_older', 'jade_and_older', 'electric', 'fuerte', 'groovy', 'hydro', 'indigo', 'kinetic'], target_ros_distro:'jade'});this.style.color='#e6e6e6';this.style.background='#3e4f6e';document.getElementById('electric').style.background='#e6e6e6';document.getElementById('electric').style.color='#3e4f6e';document.getElementById('fuerte').style.background='#e6e6e6';document.getElementById('fuerte').style.color='#3e4f6e';document.getElementById('groovy').style.background='#e6e6e6';document.getElementById('groovy').style.color='#3e4f6e';document.getElementById('hydro').style.background='#e6e6e6';document.getElementById('hydro').style.color='#3e4f6e';document.getElementById('indigo').style.background='#e6e6e6';document.getElementById('indigo').style.color='#3e4f6e';document.getElementById('kinetic').style.background='#e6e6e6';document.getElementById('kinetic').style.color='#3e4f6e';return false" style="background: rgb(230, 230, 230) none repeat scroll 0% 0%; color: rgb(62, 79, 110);"> jade </button>
<button id="kinetic" class="btn btn-default" onclick="Version({show:['electric_and_newer', 'fuerte_and_newer', 'groovy_and_newer', 'hydro_and_newer', 'indigo_and_newer', 'jade_and_newer', 'kinetic_and_newer', 'kinetic_and_older', 'kinetic'], hide:['kinetic_and_newer', 'electric_and_older', 'fuerte_and_older', 'groovy_and_older', 'hydro_and_older', 'indigo_and_older', 'jade_and_older', 'kinetic_and_older', 'electric', 'fuerte', 'groovy', 'hydro', 'indigo', 'jade'], target_ros_distro:'kinetic'});this.style.color='#e6e6e6';this.style.background='#3e4f6e';document.getElementById('electric').style.background='#e6e6e6';document.getElementById('electric').style.color='#3e4f6e';document.getElementById('fuerte').style.background='#e6e6e6';document.getElementById('fuerte').style.color='#3e4f6e';document.getElementById('groovy').style.background='#e6e6e6';document.getElementById('groovy').style.color='#3e4f6e';document.getElementById('hydro').style.background='#e6e6e6';document.getElementById('hydro').style.color='#3e4f6e';document.getElementById('indigo').style.background='#e6e6e6';document.getElementById('indigo').style.color='#3e4f6e';document.getElementById('jade').style.background='#e6e6e6';document.getElementById('jade').style.color='#3e4f6e';return false" style="color: rgb(230, 230, 230); background: rgb(62, 79, 110) none repeat scroll 0% 0%;"> kinetic </button>

</span><span style="text-align:left">&nbsp;&nbsp;<a href="javascript:toggleDocStatus()">Documentation Status</a></span></p><div id="doc_status" style="background:#CCCCCC;display:none;margin-top:0px;margin-bottom:0px;padding-top:0px"><ul style="padding-top:5px;margin-top:0px;margin-bottom:0px;padding-bottom:5px;"><li><b>electric:</b> <i>Documentation generated on March 01, 2013 at 04:11 PM</i></li><br><li><b>fuerte:</b> <i>Documentation generated on December 28, 2013 at 05:14 PM</i></li><br><li><b>groovy:</b> <i>Documentation generated on October 06, 2014 at 02:49 AM</i></li><br><li><b>hydro:</b> <i>Documentation generated on August 27, 2015 at 02:07 PM</i><span style="font-size:10px"> (<a href="http://jenkins.ros.org/job/doc-hydro-navigation/">doc job</a>).</span></li><br><li><b>indigo:</b> <i>Documentation generated on April 18, 2017 at 10:12 AM</i><span style="font-size:10px"> (<a href="http://build.ros.org/view/Idoc/job/Idoc__navigation__ubuntu_trusty_amd64">doc job</a>).</span></li><br><li><b>jade:</b> <i>Documentation generated on April 17, 2017 at 11:00 AM</i><span style="font-size:10px"> (<a href="http://build.ros.org/view/Jdoc/job/Jdoc__navigation__ubuntu_trusty_amd64">doc job</a>).</span></li><br><li><b>kinetic:</b> <i>Documentation generated on April 18, 2017 at 11:07 AM</i><span style="font-size:10px"> (<a href="http://build.ros.org/view/Kdoc/job/Kdoc__navigation__ubuntu_xenial_amd64">doc job</a>).</span></li><br><li><b>lunar:</b> Cannot load information on <strong>name: amcl, distro: lunar</strong>, which means that it is not yet in our index. Please see <a href="http://wiki.ros.org/rosdistro/Tutorials/Indexing%20Your%20ROS%20Repository%20for%20Documentation%20Generation">this page</a> for information on how to submit your repository to our index.</li><br></ul></div><div class="version electric" style="display: none;"><em><strong><a href="http://wiki.ros.org/navigation?distro=electric">navigation</a></strong>: amcl | <a href="http://wiki.ros.org/base_local_planner?distro=electric">base_local_planner</a> | <a href="http://wiki.ros.org/carrot_planner?distro=electric">carrot_planner</a> | <a href="http://wiki.ros.org/clear_costmap_recovery?distro=electric">clear_costmap_recovery</a> | <a href="http://wiki.ros.org/costmap_2d?distro=electric">costmap_2d</a> | <a href="http://wiki.ros.org/dwa_local_planner?distro=electric">dwa_local_planner</a> | <a href="http://wiki.ros.org/fake_localization?distro=electric">fake_localization</a> | <a href="http://wiki.ros.org/map_server?distro=electric">map_server</a> | <a href="http://wiki.ros.org/move_base?distro=electric">move_base</a> | <a href="http://wiki.ros.org/move_base_msgs?distro=electric">move_base_msgs</a> | <a href="http://wiki.ros.org/move_slow_and_clear?distro=electric">move_slow_and_clear</a> | <a href="http://wiki.ros.org/nav_core?distro=electric">nav_core</a> | <a href="http://wiki.ros.org/navfn?distro=electric">navfn</a> | <a href="http://wiki.ros.org/robot_pose_ekf?distro=electric">robot_pose_ekf</a> | <a href="http://wiki.ros.org/rotate_recovery?distro=electric">rotate_recovery</a> | <a href="http://wiki.ros.org/voxel_grid?distro=electric">voxel_grid</a></em><br><div class="package-links"><strong>Package Links</strong><ul><li><strong><a href="http://ros.org/doc/electric/api/amcl/html">Code API</a></strong></li><li><a href="http://wiki.ros.org/amcl/Tutorials">Tutorials</a></li><li><a href="http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:amcl/page:1/">FAQ</a></li><li><a href="http://wiki.ros.org/navigation/ChangeList">Change List</a></li><li><a href="http://wiki.ros.org/amcl/Reviews">Reviews</a></li></ul><script type="text/javascript" src="amcl_files/roswiki.js"></script><strong><a href="#" onclick="toggleExpandable('electricdependencies-list'); return false;">Dependencies</a> (9)</strong><br><div id="electricdependencies-list" style="display:none"><ul><li><a href="http://wiki.ros.org/dynamic_reconfigure?distro=electric">dynamic_reconfigure</a></li><li><a href="http://wiki.ros.org/map_server?distro=electric">map_server</a></li><li><a href="http://wiki.ros.org/message_filters?distro=electric">message_filters</a></li><li><a href="http://wiki.ros.org/nav_msgs?distro=electric">nav_msgs</a></li><li><a href="http://wiki.ros.org/rosbag?distro=electric">rosbag</a></li><li><a href="http://wiki.ros.org/roscpp?distro=electric">roscpp</a></li><li><a href="http://wiki.ros.org/rostest?distro=electric">rostest</a></li><li><a href="http://wiki.ros.org/std_srvs?distro=electric">std_srvs</a></li><li><a href="http://wiki.ros.org/tf?distro=electric">tf</a></li></ul></div><strong><a href="#" onclick="toggleExpandable('electricused-by-list'); return false;">Used by</a> (6)</strong><br><div id="electricused-by-list" style="display:none"><ul><li><a href="http://wiki.ros.org/cart_pushing_executive?distro=electric">cart_pushing_executi...</a></li><li><a href="http://wiki.ros.org/cob_navigation_global?distro=electric">cob_navigation_globa...</a></li><li><a href="http://wiki.ros.org/erratic_navigation?distro=electric">erratic_navigation</a></li><li><a href="http://wiki.ros.org/pr2_map_navigation_app?distro=electric">pr2_map_navigation_a...</a></li><li><a href="http://wiki.ros.org/pr2_navigation_global?distro=electric">pr2_navigation_globa...</a></li><li><a class="nonexistent" href="http://wiki.ros.org/rosie_bringup?distro=electric">rosie_bringup</a></li></ul></div></div><h1>Package Summary</h1><p><span class="badge" style="background-color: #5cb85c;"><span class="glyphicon glyphicon-ok" style="color: white;"></span> Documented</span></p><p id="package-info">
</p><p>
    amcl is a probabilistic localization system for a robot moving in
    2D. It implements the adaptive (or KLD-sampling) Monte Carlo
    localization approach (as described by Dieter Fox), which uses a
    particle filter to track the pose of a robot against a known map.
</p>
<p>
    This node is derived, with thanks, from Andrew Howard's excellent
    'amcl' Player driver.
</p>
  <p id="package-info-1"></p><ul><li>Author: Brian P. Gerkey</li><li>License: LGPL</li><li>Source: git <a href="https://github.com/ros-planning/navigation">https://github.com/ros-planning/navigation</a> (branch: navigation-1.6)</li></ul></div>
<div class="version fuerte" style="display: none;"><em><strong><a href="http://wiki.ros.org/navigation?distro=fuerte">navigation</a></strong>: amcl | <a href="http://wiki.ros.org/base_local_planner?distro=fuerte">base_local_planner</a> | <a href="http://wiki.ros.org/carrot_planner?distro=fuerte">carrot_planner</a> | <a href="http://wiki.ros.org/clear_costmap_recovery?distro=fuerte">clear_costmap_recovery</a> | <a href="http://wiki.ros.org/costmap_2d?distro=fuerte">costmap_2d</a> | <a href="http://wiki.ros.org/dwa_local_planner?distro=fuerte">dwa_local_planner</a> | <a href="http://wiki.ros.org/fake_localization?distro=fuerte">fake_localization</a> | <a href="http://wiki.ros.org/map_server?distro=fuerte">map_server</a> | <a href="http://wiki.ros.org/move_base?distro=fuerte">move_base</a> | <a href="http://wiki.ros.org/move_base_msgs?distro=fuerte">move_base_msgs</a> | <a href="http://wiki.ros.org/move_slow_and_clear?distro=fuerte">move_slow_and_clear</a> | <a href="http://wiki.ros.org/nav_core?distro=fuerte">nav_core</a> | <a href="http://wiki.ros.org/navfn?distro=fuerte">navfn</a> | <a href="http://wiki.ros.org/robot_pose_ekf?distro=fuerte">robot_pose_ekf</a> | <a href="http://wiki.ros.org/rotate_recovery?distro=fuerte">rotate_recovery</a> | <a href="http://wiki.ros.org/voxel_grid?distro=fuerte">voxel_grid</a></em><br><div class="package-links"><strong>Package Links</strong><ul><li><strong><a href="http://docs.ros.org/fuerte/api/amcl/html">Code API</a></strong></li><li><a href="http://wiki.ros.org/amcl/Tutorials">Tutorials</a></li><li><a href="http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:amcl/page:1/">FAQ</a></li><li><a href="http://wiki.ros.org/navigation/ChangeList">Change List</a></li><li><a href="http://wiki.ros.org/amcl/Reviews">Reviews</a></li></ul><script type="text/javascript" src="amcl_files/roswiki.js"></script><strong><a href="#" onclick="toggleExpandable('fuertedependencies-list'); return false;">Dependencies</a> (9)</strong><br><div id="fuertedependencies-list" style="display:none"><ul><li><a href="http://wiki.ros.org/dynamic_reconfigure?distro=fuerte">dynamic_reconfigure</a></li><li><a href="http://wiki.ros.org/map_server?distro=fuerte">map_server</a></li><li><a href="http://wiki.ros.org/message_filters?distro=fuerte">message_filters</a></li><li><a href="http://wiki.ros.org/nav_msgs?distro=fuerte">nav_msgs</a></li><li><a href="http://wiki.ros.org/rosbag?distro=fuerte">rosbag</a></li><li><a href="http://wiki.ros.org/roscpp?distro=fuerte">roscpp</a></li><li><a href="http://wiki.ros.org/rostest?distro=fuerte">rostest</a></li><li><a href="http://wiki.ros.org/std_srvs?distro=fuerte">std_srvs</a></li><li><a href="http://wiki.ros.org/tf?distro=fuerte">tf</a></li></ul></div><strong><a href="#" onclick="toggleExpandable('fuerteused-by-list'); return false;">Used by</a> (14)</strong><br><div id="fuerteused-by-list" style="display:none"><ul><li><a class="nonexistent" href="http://wiki.ros.org/beego_navigation?distro=fuerte">beego_navigation</a></li><li><a href="http://wiki.ros.org/cart_pushing_executive?distro=fuerte">cart_pushing_executi...</a></li><li><a href="http://wiki.ros.org/cob_navigation_global?distro=fuerte">cob_navigation_globa...</a></li><li><a class="nonexistent" href="http://wiki.ros.org/collvoid_local_planner?distro=fuerte">collvoid_local_plann...</a></li><li><a href="http://wiki.ros.org/erratic_navigation?distro=fuerte">erratic_navigation</a></li><li><a href="http://wiki.ros.org/jsk_pr2_startup?distro=fuerte">jsk_pr2_startup</a></li><li><a class="nonexistent" href="http://wiki.ros.org/move_base_stage_tutorial?distro=fuerte">move_base_stage_tuto...</a></li><li><a class="nonexistent" href="http://wiki.ros.org/mrobot_ros_bridge?distro=fuerte">mrobot_ros_bridge</a></li><li><a href="http://wiki.ros.org/navigation_stage?distro=fuerte">navigation_stage</a></li><li><a href="http://wiki.ros.org/pr2_2dnav_gazebo?distro=fuerte">pr2_2dnav_gazebo</a></li><li><a href="http://wiki.ros.org/pr2_drive_life_test?distro=fuerte">pr2_drive_life_test</a></li><li><a href="http://wiki.ros.org/pr2_map_navigation_app?distro=fuerte">pr2_map_navigation_a...</a></li><li><a href="http://wiki.ros.org/pr2_navigation_global?distro=fuerte">pr2_navigation_globa...</a></li><li><a class="nonexistent" href="http://wiki.ros.org/rosie_bringup?distro=fuerte">rosie_bringup</a></li></ul></div></div><h1>Package Summary</h1><p><span class="badge" style="background-color: #5cb85c;"><span class="glyphicon glyphicon-ok" style="color: white;"></span> Documented</span></p><p id="package-info-2">
</p><p>
    amcl is a probabilistic localization system for a robot moving in
    2D. It implements the adaptive (or KLD-sampling) Monte Carlo
    localization approach (as described by Dieter Fox), which uses a
    particle filter to track the pose of a robot against a known map.
</p>
<p>
    This node is derived, with thanks, from Andrew Howard's excellent
    'amcl' Player driver.
</p>
  <p id="package-info-3"></p><ul><li>Author: Brian P. Gerkey</li><li>License: LGPL</li><li>Source: git <a href="https://github.com/ros-planning/navigation">https://github.com/ros-planning/navigation</a> (branch: navigation-1.8)</li></ul></div>
<div class="version groovy" style="display: none;"><em><strong><a href="http://wiki.ros.org/navigation?distro=groovy">navigation</a></strong>: amcl | <a href="http://wiki.ros.org/base_local_planner?distro=groovy">base_local_planner</a> | <a href="http://wiki.ros.org/carrot_planner?distro=groovy">carrot_planner</a> | <a href="http://wiki.ros.org/clear_costmap_recovery?distro=groovy">clear_costmap_recovery</a> | <a href="http://wiki.ros.org/costmap_2d?distro=groovy">costmap_2d</a> | <a href="http://wiki.ros.org/dwa_local_planner?distro=groovy">dwa_local_planner</a> | <a href="http://wiki.ros.org/fake_localization?distro=groovy">fake_localization</a> | <a href="http://wiki.ros.org/map_server?distro=groovy">map_server</a> | <a href="http://wiki.ros.org/move_base?distro=groovy">move_base</a> | <a href="http://wiki.ros.org/move_base_msgs?distro=groovy">move_base_msgs</a> | <a href="http://wiki.ros.org/move_slow_and_clear?distro=groovy">move_slow_and_clear</a> | <a href="http://wiki.ros.org/nav_core?distro=groovy">nav_core</a> | <a href="http://wiki.ros.org/navfn?distro=groovy">navfn</a> | <a href="http://wiki.ros.org/robot_pose_ekf?distro=groovy">robot_pose_ekf</a> | <a href="http://wiki.ros.org/rotate_recovery?distro=groovy">rotate_recovery</a> | <a href="http://wiki.ros.org/voxel_grid?distro=groovy">voxel_grid</a></em><br><div class="package-links"><strong>Package Links</strong><ul><li><strong><a href="http://docs.ros.org/groovy/api/amcl/html">Code API</a></strong></li><li><a href="http://wiki.ros.org/amcl/Tutorials">Tutorials</a></li><li><a href="http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:amcl/page:1/">FAQ</a></li><li><a href="http://wiki.ros.org/navigation/ChangeList">Change List</a></li><li><a href="http://wiki.ros.org/amcl/Reviews">Reviews</a></li></ul><script type="text/javascript" src="amcl_files/roswiki.js"></script><strong><a href="#" onclick="toggleExpandable('groovydependencies-list'); return false;">Dependencies</a> (9)</strong><br><div id="groovydependencies-list" style="display:none"><ul><li><a href="http://wiki.ros.org/dynamic_reconfigure?distro=groovy">dynamic_reconfigure</a></li><li><a href="http://wiki.ros.org/map_server?distro=groovy">map_server</a></li><li><a href="http://wiki.ros.org/message_filters?distro=groovy">message_filters</a></li><li><a href="http://wiki.ros.org/nav_msgs?distro=groovy">nav_msgs</a></li><li><a href="http://wiki.ros.org/rosbag?distro=groovy">rosbag</a></li><li><a href="http://wiki.ros.org/roscpp?distro=groovy">roscpp</a></li><li><a href="http://wiki.ros.org/rostest?distro=groovy">rostest</a></li><li><a href="http://wiki.ros.org/std_srvs?distro=groovy">std_srvs</a></li><li><a href="http://wiki.ros.org/tf?distro=groovy">tf</a></li></ul></div><strong><a href="#" onclick="toggleExpandable('groovyused-by-list'); return false;">Used by</a> (8)</strong><br><div id="groovyused-by-list" style="display:none"><ul><li><a href="http://wiki.ros.org/cob_navigation_global?distro=groovy">cob_navigation_globa...</a></li><li><a href="http://wiki.ros.org/erratic_navigation?distro=groovy">erratic_navigation</a></li><li><a class="nonexistent" href="http://wiki.ros.org/move_base_stage_tutorial?distro=groovy">move_base_stage_tuto...</a></li><li><a href="http://wiki.ros.org/navigation_stage?distro=groovy">navigation_stage</a></li><li><a href="http://wiki.ros.org/pr2_map_navigation_app?distro=groovy">pr2_map_navigation_a...</a></li><li><a href="http://wiki.ros.org/pr2_navigation_global?distro=groovy">pr2_navigation_globa...</a></li><li><a class="nonexistent" href="http://wiki.ros.org/rosie_bringup?distro=groovy">rosie_bringup</a></li><li><a href="http://wiki.ros.org/segbot_navigation?distro=groovy">segbot_navigation</a></li></ul></div></div><h1>Package Summary</h1><p><span class="badge" style="background-color: #5cb85c;"><span class="glyphicon glyphicon-ok" style="color: white;"></span> Documented</span></p><p id="package-info-4">
</p><p>
    amcl is a probabilistic localization system for a robot moving in
    2D. It implements the adaptive (or KLD-sampling) Monte Carlo
    localization approach (as described by Dieter Fox), which uses a
    particle filter to track the pose of a robot against a known map.
</p>
<p>
    This node is derived, with thanks, from Andrew Howard's excellent
    'amcl' Player driver.
</p>
  <p id="package-info-5"></p><ul><li>Author: Brian P. Gerkey</li><li>License: LGPL</li><li>Source: git <a href="https://github.com/ros-planning/navigation">https://github.com/ros-planning/navigation.git</a> (branch: groovy-devel)</li></ul></div>
<div class="version hydro" style="display: none;"><em><strong><a href="http://wiki.ros.org/navigation?distro=hydro">navigation</a></strong>: amcl | <a href="http://wiki.ros.org/base_local_planner?distro=hydro">base_local_planner</a> | <a href="http://wiki.ros.org/carrot_planner?distro=hydro">carrot_planner</a> | <a href="http://wiki.ros.org/clear_costmap_recovery?distro=hydro">clear_costmap_recovery</a> | <a href="http://wiki.ros.org/costmap_2d?distro=hydro">costmap_2d</a> | <a href="http://wiki.ros.org/dwa_local_planner?distro=hydro">dwa_local_planner</a> | <a href="http://wiki.ros.org/fake_localization?distro=hydro">fake_localization</a> | <a href="http://wiki.ros.org/global_planner?distro=hydro">global_planner</a> | <a href="http://wiki.ros.org/map_server?distro=hydro">map_server</a> | <a href="http://wiki.ros.org/move_base?distro=hydro">move_base</a> | <a href="http://wiki.ros.org/move_base_msgs?distro=hydro">move_base_msgs</a> | <a href="http://wiki.ros.org/move_slow_and_clear?distro=hydro">move_slow_and_clear</a> | <a href="http://wiki.ros.org/nav_core?distro=hydro">nav_core</a> | <a href="http://wiki.ros.org/navfn?distro=hydro">navfn</a> | <a href="http://wiki.ros.org/robot_pose_ekf?distro=hydro">robot_pose_ekf</a> | <a href="http://wiki.ros.org/rotate_recovery?distro=hydro">rotate_recovery</a> | <a href="http://wiki.ros.org/voxel_grid?distro=hydro">voxel_grid</a></em><br><div class="package-links"><strong>Package Links</strong><ul><li><strong><a href="http://docs.ros.org/hydro/api/amcl/html">Code API</a></strong></li><li><a href="http://wiki.ros.org/amcl/Tutorials">Tutorials</a></li><li><a href="http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:amcl/page:1/">FAQ</a></li><li><a href="http://docs.ros.org/hydro/changelogs/amcl/changelog.html">Changelog</a></li><li><a href="http://wiki.ros.org/navigation/ChangeList">Change List</a></li><li><a href="http://wiki.ros.org/amcl/Reviews">Reviews</a></li></ul><script type="text/javascript" src="amcl_files/roswiki.js"></script><strong><a href="#" onclick="toggleExpandable('hydrodependencies-list'); return false;">Dependencies</a> (10)</strong><br><div id="hydrodependencies-list" style="display:none"><ul><li><a href="http://wiki.ros.org/catkin?distro=hydro">catkin</a></li><li><a href="http://wiki.ros.org/dynamic_reconfigure?distro=hydro">dynamic_reconfigure</a></li><li><a href="http://wiki.ros.org/map_server?distro=hydro">map_server</a></li><li><a href="http://wiki.ros.org/message_filters?distro=hydro">message_filters</a></li><li><a href="http://wiki.ros.org/nav_msgs?distro=hydro">nav_msgs</a></li><li><a href="http://wiki.ros.org/rosbag?distro=hydro">rosbag</a></li><li><a href="http://wiki.ros.org/roscpp?distro=hydro">roscpp</a></li><li><a href="http://wiki.ros.org/rostest?distro=hydro">rostest</a></li><li><a href="http://wiki.ros.org/std_srvs?distro=hydro">std_srvs</a></li><li><a href="http://wiki.ros.org/tf?distro=hydro">tf</a></li></ul></div><strong><a href="#" onclick="toggleExpandable('hydroused-by-list'); return false;">Used by</a> (11)</strong><br><div id="hydroused-by-list" style="display:none"><ul><li><a href="http://wiki.ros.org/cob_navigation_global?distro=hydro">cob_navigation_globa...</a></li><li><a href="http://wiki.ros.org/erratic_navigation?distro=hydro">erratic_navigation</a></li><li><a href="http://wiki.ros.org/husky_navigation?distro=hydro">husky_navigation</a></li><li><a href="http://wiki.ros.org/jsk_pr2_startup?distro=hydro">jsk_pr2_startup</a></li><li><a href="http://wiki.ros.org/maggie_navigation_config?distro=hydro">maggie_navigation_co...</a></li><li><a class="nonexistent" href="http://wiki.ros.org/nav?distro=hydro">nav</a></li><li><a href="http://wiki.ros.org/navigation?distro=hydro">navigation</a></li><li><a href="http://wiki.ros.org/pr2_map_navigation_app?distro=hydro">pr2_map_navigation_a...</a></li><li><a href="http://wiki.ros.org/pr2_navigation_global?distro=hydro">pr2_navigation_globa...</a></li><li><a href="http://wiki.ros.org/segbot_navigation?distro=hydro">segbot_navigation</a></li><li><a href="http://wiki.ros.org/turtlebot_navigation?distro=hydro">turtlebot_navigation...</a></li></ul></div></div><h1>Package Summary</h1><p><span class="badge" style="background-color: #5cb85c;"><span class="glyphicon glyphicon-ok" style="color: white;"></span> Released</span>
<span class="badge" style="background-color: #5cb85c;"><span class="glyphicon glyphicon-ok" style="color: white;"></span> Continuous integration</span>
<span class="badge" style="background-color: #5cb85c;"><span class="glyphicon glyphicon-ok" style="color: white;"></span> Documented</span></p><p id="package-info-6"></p><p>
            amcl is a probabilistic localization system for a robot moving in
            2D. It implements the adaptive (or KLD-sampling) Monte Carlo
            localization approach (as described by Dieter Fox), which uses a
            particle filter to track the pose of a robot against a known map.
        </p>
        <p>
            This node is derived, with thanks, from Andrew Howard's excellent
            'amcl' Player driver.
        </p><p id="package-info-7"></p><ul><li>Maintainer status: maintained</li><li>Maintainer: David V. Lu!! &lt;davidvlu AT gmail DOT com&gt;, Michael Ferguson &lt;mferguson AT fetchrobotics DOT com&gt;</li><li>Author: Brian P. Gerkey, contradict@gmail.com</li><li>License: LGPL</li><li>Source: git <a href="https://github.com/ros-planning/navigation">https://github.com/ros-planning/navigation.git</a> (branch: hydro-devel)</li></ul></div>
<div class="version indigo" style="display: none;"><em><strong><a href="http://wiki.ros.org/navigation?distro=indigo">navigation</a></strong>: amcl | <a href="http://wiki.ros.org/base_local_planner?distro=indigo">base_local_planner</a> | <a href="http://wiki.ros.org/carrot_planner?distro=indigo">carrot_planner</a> | <a href="http://wiki.ros.org/clear_costmap_recovery?distro=indigo">clear_costmap_recovery</a> | <a href="http://wiki.ros.org/costmap_2d?distro=indigo">costmap_2d</a> | <a href="http://wiki.ros.org/dwa_local_planner?distro=indigo">dwa_local_planner</a> | <a href="http://wiki.ros.org/fake_localization?distro=indigo">fake_localization</a> | <a href="http://wiki.ros.org/global_planner?distro=indigo">global_planner</a> | <a href="http://wiki.ros.org/map_server?distro=indigo">map_server</a> | <a href="http://wiki.ros.org/move_base?distro=indigo">move_base</a> | <a href="http://wiki.ros.org/move_base_msgs?distro=indigo">move_base_msgs</a> | <a href="http://wiki.ros.org/move_slow_and_clear?distro=indigo">move_slow_and_clear</a> | <a href="http://wiki.ros.org/nav_core?distro=indigo">nav_core</a> | <a href="http://wiki.ros.org/navfn?distro=indigo">navfn</a> | <a href="http://wiki.ros.org/robot_pose_ekf?distro=indigo">robot_pose_ekf</a> | <a href="http://wiki.ros.org/rotate_recovery?distro=indigo">rotate_recovery</a> | <a href="http://wiki.ros.org/voxel_grid?distro=indigo">voxel_grid</a></em><br><div class="package-links"><strong>Package Links</strong><ul><li><strong><a href="http://docs.ros.org/indigo/api/amcl/html">Code API</a></strong></li><li><a href="http://wiki.ros.org/amcl/Tutorials">Tutorials</a></li><li><a href="http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:amcl/page:1/">FAQ</a></li><li><a href="http://docs.ros.org/indigo/changelogs/amcl/changelog.html">Changelog</a></li><li><a href="http://wiki.ros.org/navigation/ChangeList">Change List</a></li><li><a href="http://wiki.ros.org/amcl/Reviews">Reviews</a></li></ul><script type="text/javascript" src="amcl_files/roswiki.js"></script><strong><a href="#" onclick="toggleExpandable('indigodependencies-list'); return false;">Dependencies</a> (9)</strong><br><div id="indigodependencies-list" style="display:none"><ul><li><a href="http://wiki.ros.org/catkin?distro=indigo">catkin</a></li><li><a href="http://wiki.ros.org/dynamic_reconfigure?distro=indigo">dynamic_reconfigure</a></li><li><a href="http://wiki.ros.org/message_filters?distro=indigo">message_filters</a></li><li><a href="http://wiki.ros.org/nav_msgs?distro=indigo">nav_msgs</a></li><li><a href="http://wiki.ros.org/rosbag?distro=indigo">rosbag</a></li><li><a href="http://wiki.ros.org/roscpp?distro=indigo">roscpp</a></li><li><a href="http://wiki.ros.org/rostest?distro=indigo">rostest</a></li><li><a href="http://wiki.ros.org/std_srvs?distro=indigo">std_srvs</a></li><li><a href="http://wiki.ros.org/tf?distro=indigo">tf</a></li></ul></div><strong><a href="#" onclick="toggleExpandable('indigoused-by-list'); return false;">Used by</a> (22)</strong><br><div id="indigoused-by-list" style="display:none"><ul><li><a href="http://wiki.ros.org/cirkit_unit03_amcl?distro=indigo">cirkit_unit03_amcl</a></li><li><a href="http://wiki.ros.org/cob_navigation_global?distro=indigo">cob_navigation_globa...</a></li><li><a href="http://wiki.ros.org/evarobot_navigation?distro=indigo">evarobot_navigation</a></li><li><a href="http://wiki.ros.org/fetch_navigation?distro=indigo">fetch_navigation</a></li><li><a href="http://wiki.ros.org/husky_navigation?distro=indigo">husky_navigation</a></li><li><a href="http://wiki.ros.org/jackal_navigation?distro=indigo">jackal_navigation</a></li><li><a class="nonexistent" href="http://wiki.ros.org/jsk_fetch_startup?distro=indigo">jsk_fetch_startup</a></li><li><a href="http://wiki.ros.org/jsk_pr2_startup?distro=indigo">jsk_pr2_startup</a></li><li><a href="http://wiki.ros.org/mrp2_navigation?distro=indigo">mrp2_navigation</a></li><li><a href="http://wiki.ros.org/navigation?distro=indigo">navigation</a></li><li><a href="http://wiki.ros.org/navigation_stage?distro=indigo">navigation_stage</a></li><li><a href="http://wiki.ros.org/pr2_map_navigation_app?distro=indigo">pr2_map_navigation_a...</a></li><li><a href="http://wiki.ros.org/pr2_navigation_global?distro=indigo">pr2_navigation_globa...</a></li><li><a href="http://wiki.ros.org/rb1_base_2dnav?distro=indigo">rb1_base_2dnav</a></li><li><a class="nonexistent" href="http://wiki.ros.org/rbcar_navigation?distro=indigo">rbcar_navigation</a></li><li><a href="http://wiki.ros.org/ridgeback_navigation?distro=indigo">ridgeback_navigation...</a></li><li><a href="http://wiki.ros.org/riskrrt?distro=indigo">riskrrt</a></li><li><a href="http://wiki.ros.org/roch_navigation?distro=indigo">roch_navigation</a></li><li><a href="http://wiki.ros.org/segbot_navigation?distro=indigo">segbot_navigation</a></li><li><a class="nonexistent" href="http://wiki.ros.org/spur_2dnav?distro=indigo">spur_2dnav</a></li><li><a href="http://wiki.ros.org/summit_xl_navigation?distro=indigo">summit_xl_navigation...</a></li><li><a href="http://wiki.ros.org/turtlebot_navigation?distro=indigo">turtlebot_navigation...</a></li></ul></div><script type="text/javascript" src="amcl_files/roswiki.js"></script><strong><a href="#" onclick="toggleExpandableJenkins('stack-indigojenkins-list'); return false;">Jenkins jobs</a> (5)</strong><br><div id="stack-indigojenkins-list" style="display:none"><ul><li><a href="http://build.ros.org/view/Isrc_uT/job/Isrc_uT__amcl__ubuntu_trusty__source">source ubuntu trusty</a></li><li><a href="http://build.ros.org/view/Ibin_arm_uThf/job/Ibin_arm_uThf__amcl__ubuntu_trusty_armhf__binary">binary ubuntu trusty armhf</a></li><li><a href="http://build.ros.org/view/Ibin_uT32/job/Ibin_uT32__amcl__ubuntu_trusty_i386__binary">binary ubuntu trusty i386</a></li><li><a href="http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__amcl__ubuntu_trusty_amd64__binary">binary ubuntu trusty amd64</a></li><li><a href="http://build.ros.org/view/Idoc/job/Idoc__navigation__ubuntu_trusty_amd64">doc</a></li></ul></div></div><h1>Package Summary</h1><p><span class="badge" style="background-color: #5cb85c;"><span class="glyphicon glyphicon-ok" style="color: white;"></span> Released</span>
<span class="badge" style="background-color: #5cb85c;"><span class="glyphicon glyphicon-ok" style="color: white;"></span> Documented</span></p><p id="package-info-8"></p><p>
            amcl is a probabilistic localization system for a robot moving in
            2D. It implements the adaptive (or KLD-sampling) Monte Carlo
            localization approach (as described by Dieter Fox), which uses a
            particle filter to track the pose of a robot against a known map.
        </p>
        <p>
            This node is derived, with thanks, from Andrew Howard's excellent
            'amcl' Player driver.
        </p><p id="package-info-9"></p><ul><li>Maintainer status: maintained</li><li>Maintainer: David V. Lu!! &lt;davidvlu AT gmail DOT com&gt;, Michael Ferguson &lt;mferguson AT fetchrobotics DOT com&gt;</li><li>Author: Brian P. Gerkey, contradict@gmail.com</li><li>License: LGPL</li><li>Source: git <a href="https://github.com/ros-planning/navigation">https://github.com/ros-planning/navigation.git</a> (branch: indigo-devel)</li></ul></div>
<div class="version jade" style="display: none;"><em><strong><a href="http://wiki.ros.org/navigation?distro=jade">navigation</a></strong>: amcl | <a href="http://wiki.ros.org/base_local_planner?distro=jade">base_local_planner</a> | <a href="http://wiki.ros.org/carrot_planner?distro=jade">carrot_planner</a> | <a href="http://wiki.ros.org/clear_costmap_recovery?distro=jade">clear_costmap_recovery</a> | <a href="http://wiki.ros.org/costmap_2d?distro=jade">costmap_2d</a> | <a href="http://wiki.ros.org/dwa_local_planner?distro=jade">dwa_local_planner</a> | <a href="http://wiki.ros.org/fake_localization?distro=jade">fake_localization</a> | <a href="http://wiki.ros.org/global_planner?distro=jade">global_planner</a> | <a href="http://wiki.ros.org/map_server?distro=jade">map_server</a> | <a href="http://wiki.ros.org/move_base?distro=jade">move_base</a> | <a href="http://wiki.ros.org/move_base_msgs?distro=jade">move_base_msgs</a> | <a href="http://wiki.ros.org/move_slow_and_clear?distro=jade">move_slow_and_clear</a> | <a href="http://wiki.ros.org/nav_core?distro=jade">nav_core</a> | <a href="http://wiki.ros.org/navfn?distro=jade">navfn</a> | <a href="http://wiki.ros.org/robot_pose_ekf?distro=jade">robot_pose_ekf</a> | <a href="http://wiki.ros.org/rotate_recovery?distro=jade">rotate_recovery</a> | <a href="http://wiki.ros.org/voxel_grid?distro=jade">voxel_grid</a></em><br><div class="package-links"><strong>Package Links</strong><ul><li><strong><a href="http://docs.ros.org/jade/api/amcl/html">Code API</a></strong></li><li><a href="http://wiki.ros.org/amcl/Tutorials">Tutorials</a></li><li><a href="http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:amcl/page:1/">FAQ</a></li><li><a href="http://docs.ros.org/jade/changelogs/amcl/changelog.html">Changelog</a></li><li><a href="http://wiki.ros.org/navigation/ChangeList">Change List</a></li><li><a href="http://wiki.ros.org/amcl/Reviews">Reviews</a></li></ul><script type="text/javascript" src="amcl_files/roswiki.js"></script><strong><a href="#" onclick="toggleExpandable('jadedependencies-list'); return false;">Dependencies</a> (9)</strong><br><div id="jadedependencies-list" style="display:none"><ul><li><a href="http://wiki.ros.org/catkin?distro=jade">catkin</a></li><li><a href="http://wiki.ros.org/dynamic_reconfigure?distro=jade">dynamic_reconfigure</a></li><li><a href="http://wiki.ros.org/message_filters?distro=jade">message_filters</a></li><li><a href="http://wiki.ros.org/nav_msgs?distro=jade">nav_msgs</a></li><li><a href="http://wiki.ros.org/rosbag?distro=jade">rosbag</a></li><li><a href="http://wiki.ros.org/roscpp?distro=jade">roscpp</a></li><li><a href="http://wiki.ros.org/rostest?distro=jade">rostest</a></li><li><a href="http://wiki.ros.org/std_srvs?distro=jade">std_srvs</a></li><li><a href="http://wiki.ros.org/tf?distro=jade">tf</a></li></ul></div><strong><a href="#" onclick="toggleExpandable('jadeused-by-list'); return false;">Used by</a> (3)</strong><br><div id="jadeused-by-list" style="display:none"><ul><li><a href="http://wiki.ros.org/fetch_navigation?distro=jade">fetch_navigation</a></li><li><a href="http://wiki.ros.org/navigation?distro=jade">navigation</a></li><li><a href="http://wiki.ros.org/navigation_stage?distro=jade">navigation_stage</a></li></ul></div><script type="text/javascript" src="amcl_files/roswiki.js"></script><strong><a href="#" onclick="toggleExpandableJenkins('stack-jadejenkins-list'); return false;">Jenkins jobs</a> (5)</strong><br><div id="stack-jadejenkins-list" style="display:none"><ul><li><a href="http://build.ros.org/view/Jsrc_uT/job/Jsrc_uT__amcl__ubuntu_trusty__source">source ubuntu trusty</a></li><li><a href="http://build.ros.org/view/Jbin_arm_uThf/job/Jbin_arm_uThf__amcl__ubuntu_trusty_armhf__binary">binary ubuntu trusty armhf</a></li><li><a href="http://build.ros.org/view/Jbin_uT32/job/Jbin_uT32__amcl__ubuntu_trusty_i386__binary">binary ubuntu trusty i386</a></li><li><a href="http://build.ros.org/view/Jbin_uT64/job/Jbin_uT64__amcl__ubuntu_trusty_amd64__binary">binary ubuntu trusty amd64</a></li><li><a href="http://build.ros.org/view/Jdoc/job/Jdoc__navigation__ubuntu_trusty_amd64">doc</a></li></ul></div></div><h1>Package Summary</h1><p><span class="badge" style="background-color: #5cb85c;"><span class="glyphicon glyphicon-ok" style="color: white;"></span> Released</span>
<span class="badge" style="background-color: #5cb85c;"><span class="glyphicon glyphicon-ok" style="color: white;"></span> Documented</span></p><p id="package-info-10"></p><p>
            amcl is a probabilistic localization system for a robot moving in
            2D. It implements the adaptive (or KLD-sampling) Monte Carlo
            localization approach (as described by Dieter Fox), which uses a
            particle filter to track the pose of a robot against a known map.
        </p>
        <p>
            This node is derived, with thanks, from Andrew Howard's excellent
            'amcl' Player driver.
        </p><p id="package-info-11"></p><ul><li>Maintainer status: maintained</li><li>Maintainer: David V. Lu!! &lt;davidvlu AT gmail DOT com&gt;, Michael Ferguson &lt;mferguson AT fetchrobotics DOT com&gt;</li><li>Author: Brian P. Gerkey, contradict@gmail.com</li><li>License: LGPL</li><li>Source: git <a href="https://github.com/ros-planning/navigation">https://github.com/ros-planning/navigation.git</a> (branch: jade-devel)</li></ul></div>
<div class="version kinetic" style="display: block;"><em><strong><a href="http://wiki.ros.org/navigation?distro=kinetic">navigation</a></strong>: amcl | <a href="http://wiki.ros.org/base_local_planner?distro=kinetic">base_local_planner</a> | <a href="http://wiki.ros.org/carrot_planner?distro=kinetic">carrot_planner</a> | <a href="http://wiki.ros.org/clear_costmap_recovery?distro=kinetic">clear_costmap_recovery</a> | <a href="http://wiki.ros.org/costmap_2d?distro=kinetic">costmap_2d</a> | <a href="http://wiki.ros.org/dwa_local_planner?distro=kinetic">dwa_local_planner</a> | <a href="http://wiki.ros.org/fake_localization?distro=kinetic">fake_localization</a> | <a href="http://wiki.ros.org/global_planner?distro=kinetic">global_planner</a> | <a href="http://wiki.ros.org/map_server?distro=kinetic">map_server</a> | <a href="http://wiki.ros.org/move_base?distro=kinetic">move_base</a> | <a href="http://wiki.ros.org/move_base_msgs?distro=kinetic">move_base_msgs</a> | <a href="http://wiki.ros.org/move_slow_and_clear?distro=kinetic">move_slow_and_clear</a> | <a href="http://wiki.ros.org/nav_core?distro=kinetic">nav_core</a> | <a href="http://wiki.ros.org/navfn?distro=kinetic">navfn</a> | <a href="http://wiki.ros.org/robot_pose_ekf?distro=kinetic">robot_pose_ekf</a> | <a href="http://wiki.ros.org/rotate_recovery?distro=kinetic">rotate_recovery</a> | <a href="http://wiki.ros.org/voxel_grid?distro=kinetic">voxel_grid</a></em><br><div class="package-links"><strong>Package Links</strong><ul><li><strong><a href="http://docs.ros.org/kinetic/api/amcl/html">Code API</a></strong></li><li><a href="http://wiki.ros.org/amcl/Tutorials">Tutorials</a></li><li><a href="http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:amcl/page:1/">FAQ</a></li><li><a href="http://docs.ros.org/kinetic/changelogs/amcl/changelog.html">Changelog</a></li><li><a href="http://wiki.ros.org/navigation/ChangeList">Change List</a></li><li><a href="http://wiki.ros.org/amcl/Reviews">Reviews</a></li></ul><script type="text/javascript" src="amcl_files/roswiki.js"></script><strong><a href="#" onclick="toggleExpandable('kineticdependencies-list'); return false;">Dependencies</a> (9)</strong><br><div id="kineticdependencies-list" style="display:none"><ul><li><a href="http://wiki.ros.org/catkin?distro=kinetic">catkin</a></li><li><a href="http://wiki.ros.org/dynamic_reconfigure?distro=kinetic">dynamic_reconfigure</a></li><li><a href="http://wiki.ros.org/message_filters?distro=kinetic">message_filters</a></li><li><a href="http://wiki.ros.org/nav_msgs?distro=kinetic">nav_msgs</a></li><li><a href="http://wiki.ros.org/rosbag?distro=kinetic">rosbag</a></li><li><a href="http://wiki.ros.org/roscpp?distro=kinetic">roscpp</a></li><li><a href="http://wiki.ros.org/rostest?distro=kinetic">rostest</a></li><li><a href="http://wiki.ros.org/std_srvs?distro=kinetic">std_srvs</a></li><li><a href="http://wiki.ros.org/tf?distro=kinetic">tf</a></li></ul></div><strong><a href="#" onclick="toggleExpandable('kineticused-by-list'); return false;">Used by</a> (6)</strong><br><div id="kineticused-by-list" style="display:none"><ul><li><a href="http://wiki.ros.org/navigation?distro=kinetic">navigation</a></li><li><a href="http://wiki.ros.org/navigation_stage?distro=kinetic">navigation_stage</a></li><li><a href="http://wiki.ros.org/rb1_base_2dnav?distro=kinetic">rb1_base_2dnav</a></li><li><a href="http://wiki.ros.org/roch_navigation?distro=kinetic">roch_navigation</a></li><li><a href="http://wiki.ros.org/teb_local_planner_tutorials?distro=kinetic">teb_local_planner_tu...</a></li><li><a href="http://wiki.ros.org/turtlebot_navigation?distro=kinetic">turtlebot_navigation...</a></li></ul></div><script type="text/javascript" src="amcl_files/roswiki.js"></script><strong><a href="#" onclick="toggleExpandableJenkins('stack-kineticjenkins-list'); return false;">Jenkins jobs</a> (9)</strong><br><div id="stack-kineticjenkins-list" style="display:none"><ul><li><a href="http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__amcl__ubuntu_xenial__source">source ubuntu xenial</a></li><li><a href="http://build.ros.org/view/Ksrc_dJ/job/Ksrc_dJ__amcl__debian_jessie__source">source debian jessie</a></li><li><a href="http://build.ros.org/view/Kbin_uX32/job/Kbin_uX32__amcl__ubuntu_xenial_i386__binary">binary ubuntu xenial i386</a></li><li><a href="http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__amcl__ubuntu_xenial_amd64__binary">binary ubuntu xenial amd64</a></li><li><a href="http://build.ros.org/view/Kbin_dj_dJ64/job/Kbin_dj_dJ64__amcl__debian_jessie_amd64__binary">binary debian jessie amd64</a></li><li><a href="http://build.ros.org/view/Kbin_djv8_dJv8/job/Kbin_djv8_dJv8__amcl__debian_jessie_arm64__binary">binary debian jessie arm64</a></li><li><a href="http://build.ros.org/view/Kbin_uxhf_uXhf/job/Kbin_uxhf_uXhf__amcl__ubuntu_xenial_armhf__binary">binary ubuntu xenial armhf</a></li><li><a href="http://build.ros.org/view/Kbin_uxv8_uXv8/job/Kbin_uxv8_uXv8__amcl__ubuntu_xenial_arm64__binary">binary ubuntu xenial arm64</a></li><li><a href="http://build.ros.org/view/Kdoc/job/Kdoc__navigation__ubuntu_xenial_amd64">doc</a></li></ul></div></div><h1>Package Summary</h1><p><span class="badge" style="background-color: #5cb85c;"><span class="glyphicon glyphicon-ok" style="color: white;"></span> Released</span>
<span class="badge" style="background-color: #5cb85c;"><span class="glyphicon glyphicon-ok" style="color: white;"></span> Documented</span></p><p id="package-info-12"></p><p>
            amcl is a probabilistic localization system for a robot moving in
            2D. It implements the adaptive (or KLD-sampling) Monte Carlo
            localization approach (as described by Dieter Fox), which uses a
            particle filter to track the pose of a robot against a known map.
        </p>
        <p>
            This node is derived, with thanks, from Andrew Howard's excellent
            'amcl' Player driver.
        </p><p id="package-info-13"></p><ul><li>Maintainer status: maintained</li><li>Maintainer: David V. Lu!! &lt;davidvlu AT gmail DOT com&gt;, Michael Ferguson &lt;mferguson AT fetchrobotics DOT com&gt;</li><li>Author: Brian P. Gerkey, contradict@gmail.com</li><li>License: LGPL</li><li>Source: git <a href="https://github.com/ros-planning/navigation">https://github.com/ros-planning/navigation.git</a> (branch: kinetic-devel)</li></ul></div>
<div class="version lunar" style="display: none;">Cannot load information on <strong>name: amcl, distro: lunar</strong>, which means that it is not yet in our index. Please see <a href="http://wiki.ros.org/rosdistro/Tutorials/Indexing%20Your%20ROS%20Repository%20for%20Documentation%20Generation">this page</a> for information on how to submit your repository to our index.</div><p class="line874"> <span class="anchor" id="line-3"></span></p><div class="table-of-contents"><p class="table-of-contents-heading">Contents</p><ol><li>
<a href="#Algorithms">Algorithms</a></li><li>
<a href="#Example">Example</a></li><li>
<a href="#Nodes">Nodes</a><ol><li>
<a href="#amcl-1">amcl</a><ol><li>
<a href="#Subscribed_Topics">Subscribed Topics</a></li><li>
<a href="#Published_Topics">Published Topics</a></li><li>
<a href="#Services">Services</a></li><li>
<a href="#Services_Called">Services Called</a></li><li>
<a href="#Parameters">Parameters</a></li><li>
<a href="#Transforms">Transforms</a></li></ol></li></ol></li></ol></div><p class="line874"> <span class="anchor" id="line-4"></span><span class="anchor" id="line-5"></span></p><p class="line867">
</p><h2 id="Algorithms">Algorithms</h2>
<span class="anchor" id="line-6"></span><span class="anchor" id="line-7"></span><p class="line874">Many of the algorithms and their parameters are well-described in the <span class="anchor" id="line-8"></span>book Probabilistic Robotics, by Thrun, Burgard, and Fox.  The user is <span class="anchor" id="line-9"></span>advised to check there for more detail.  In particular, we use the <span class="anchor" id="line-10"></span>following algorithms from that book: <strong><tt class="backtick">sample_motion_model_odometry</tt></strong>, <span class="anchor" id="line-11"></span><strong><tt class="backtick">beam_range_finder_model</tt></strong>, <strong><tt class="backtick">likelihood_field_range_finder_model</tt></strong>, <span class="anchor" id="line-12"></span><strong><tt class="backtick">Augmented_MCL</tt></strong>, and <strong><tt class="backtick">KLD_Sampling_MCL</tt></strong>. <span class="anchor" id="line-13"></span><span class="anchor" id="line-14"></span></p><p class="line874">As currently implemented, this node works only with laser scans and <span class="anchor" id="line-15"></span>laser maps.  It could be extended to work with other sensor data. <span class="anchor" id="line-16"></span><span class="anchor" id="line-17"></span></p><p class="line867">
</p><h2 id="Example">Example</h2>
<span class="anchor" id="line-18"></span><p class="line862">To localize using laser data on the <tt class="backtick">base_scan</tt> topic: <span class="anchor" id="line-19"></span><span class="anchor" id="line-20"></span></p><pre><span class="anchor" id="line-1-1"></span>amcl scan:=base_scan</pre><span class="anchor" id="line-21"></span><span class="anchor" id="line-22"></span><p class="line867">
</p><h2 id="Nodes">Nodes</h2>
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</p><h3 id="amcl-1">amcl</h3>
<span class="anchor" id="line-241"></span><tt class="backtick">amcl</tt> takes in a laser-based map, laser scans, and transform messages, and outputs pose estimates. On startup, <tt class="backtick">amcl</tt>
 initializes its particle filter according to the parameters provided.  
Note that, because of the defaults, if no parameters are set, the 
initial filter state will be a moderately sized particle cloud centered 
about (0,0,0). <span class="anchor" id="line-242"></span><span class="anchor" id="line-243"></span><span class="anchor" id="line-244"></span><span class="anchor" id="line-245"></span><span class="anchor" id="line-246"></span><span class="anchor" id="line-247"></span><span class="anchor" id="line-248"></span><span class="anchor" id="line-249"></span><span class="anchor" id="line-250"></span><span class="anchor" id="line-251"></span><span class="anchor" id="line-252"></span><span class="anchor" id="line-253"></span><span class="anchor" id="line-254"></span><span class="anchor" id="line-255"></span><span class="anchor" id="line-256"></span><span class="anchor" id="line-257"></span><span class="anchor" id="line-258"></span><span class="anchor" id="line-259"></span><span class="anchor" id="line-260"></span>
<h4 id="Subscribed_Topics">Subscribed Topics</h4>
<span class="anchor" id="line-261"></span><span class="anchor" id="line-262"></span><span class="anchor" id="line-263"></span><span class="anchor" id="line-264"></span><span class="anchor" id="line-265"></span><span class="anchor" id="line-266"></span><tt class="backtick">scan</tt> (<a href="http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html">sensor_msgs/LaserScan</a>) <span class="anchor" id="line-267"></span><ul><li style="list-style-type:none">Laser scans. <span class="anchor" id="line-268"></span><span class="anchor" id="line-269"></span><span class="anchor" id="line-270"></span><span class="anchor" id="line-271"></span></li></ul><tt class="backtick">tf</tt> (<a href="http://docs.ros.org/api/tf/html/msg/tfMessage.html">tf/tfMessage</a>) <span class="anchor" id="line-272"></span><ul><li style="list-style-type:none">Transforms. <span class="anchor" id="line-273"></span><span class="anchor" id="line-274"></span><span class="anchor" id="line-275"></span><span class="anchor" id="line-276"></span></li></ul><tt class="backtick">initialpose</tt> (<a href="http://docs.ros.org/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html">geometry_msgs/PoseWithCovarianceStamped</a>) <span class="anchor" id="line-277"></span><ul><li style="list-style-type:none">Mean and covariance with which to (re-)initialize the particle filter. <span class="anchor" id="line-278"></span><span class="anchor" id="line-279"></span><span class="anchor" id="line-280"></span><span class="anchor" id="line-281"></span></li></ul><tt class="backtick">map</tt> (<a href="http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html">nav_msgs/OccupancyGrid</a>) <span class="anchor" id="line-282"></span><ul><li style="list-style-type:none">When the <tt class="backtick">use_map_topic</tt> parameter is set, AMCL subscribes to this topic to retrieve the map used for laser-based localization. <strong>New in navigation 1.4.2.</strong> <span class="anchor" id="line-283"></span><span class="anchor" id="line-284"></span><span class="anchor" id="line-285"></span><span class="anchor" id="line-286"></span><span class="anchor" id="line-287"></span><span class="anchor" id="line-288"></span><span class="anchor" id="line-289"></span><span class="anchor" id="line-290"></span><span class="anchor" id="line-291"></span></li></ul>
<h4 id="Published_Topics">Published Topics</h4>
<span class="anchor" id="line-292"></span><span class="anchor" id="line-293"></span><span class="anchor" id="line-294"></span><span class="anchor" id="line-295"></span><span class="anchor" id="line-296"></span><span class="anchor" id="line-297"></span><tt class="backtick">amcl_pose</tt> (<a href="http://docs.ros.org/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html">geometry_msgs/PoseWithCovarianceStamped</a>) <span class="anchor" id="line-298"></span><ul><li style="list-style-type:none">Robot's estimated pose in the map, with covariance. <span class="anchor" id="line-299"></span><span class="anchor" id="line-300"></span><span class="anchor" id="line-301"></span><span class="anchor" id="line-302"></span></li></ul><tt class="backtick">particlecloud</tt> (<a href="http://docs.ros.org/api/geometry_msgs/html/msg/PoseArray.html">geometry_msgs/PoseArray</a>) <span class="anchor" id="line-303"></span><ul><li style="list-style-type:none">The set of pose estimates being maintained by the filter. <span class="anchor" id="line-304"></span><span class="anchor" id="line-305"></span><span class="anchor" id="line-306"></span><span class="anchor" id="line-307"></span></li></ul><tt class="backtick">tf</tt> (<a href="http://docs.ros.org/api/tf/html/msg/tfMessage.html">tf/tfMessage</a>) <span class="anchor" id="line-308"></span><ul><li style="list-style-type:none">Publishes the transform from <tt class="backtick">odom</tt> (which can be remapped via the ~odom_frame_id parameter) to <tt class="backtick">map</tt>. <span class="anchor" id="line-309"></span><span class="anchor" id="line-310"></span><span class="anchor" id="line-311"></span><span class="anchor" id="line-312"></span><span class="anchor" id="line-313"></span><span class="anchor" id="line-314"></span><span class="anchor" id="line-315"></span><span class="anchor" id="line-316"></span><span class="anchor" id="line-317"></span></li></ul>
<h4 id="Services">Services</h4>
<span class="anchor" id="line-318"></span><span class="anchor" id="line-319"></span><span class="anchor" id="line-320"></span><span class="anchor" id="line-321"></span><span class="anchor" id="line-322"></span><span class="anchor" id="line-323"></span><tt class="backtick">global_localization</tt> (<a href="http://docs.ros.org/api/std_srvs/html/srv/Empty.html">std_srvs/Empty</a>) <span class="anchor" id="line-324"></span><ul><li style="list-style-type:none">Initiate global localization, wherein all particles are dispersed randomly through the free space in the map. <span class="anchor" id="line-325"></span><span class="anchor" id="line-326"></span><span class="anchor" id="line-327"></span><span class="anchor" id="line-328"></span><span class="anchor" id="line-329"></span><span class="anchor" id="line-330"></span><span class="anchor" id="line-331"></span><span class="anchor" id="line-332"></span><span class="anchor" id="line-333"></span></li></ul>
<h4 id="Services_Called">Services Called</h4>
<span class="anchor" id="line-334"></span><span class="anchor" id="line-335"></span><span class="anchor" id="line-336"></span><span class="anchor" id="line-337"></span><span class="anchor" id="line-338"></span><span class="anchor" id="line-339"></span><tt class="backtick">static_map</tt> (<a href="http://docs.ros.org/api/nav_msgs/html/srv/GetMap.html">nav_msgs/GetMap</a>) <span class="anchor" id="line-340"></span><ul><li style="list-style-type:none">amcl
 calls this service to retrieve the map that is used for laser-based 
localization; startup blocks on getting the map from this service. <span class="anchor" id="line-341"></span><span class="anchor" id="line-342"></span><span class="anchor" id="line-343"></span><span class="anchor" id="line-344"></span><span class="anchor" id="line-345"></span><span class="anchor" id="line-346"></span><span class="anchor" id="line-347"></span><span class="anchor" id="line-348"></span><span class="anchor" id="line-349"></span><span class="anchor" id="line-350"></span><span class="anchor" id="line-351"></span><span class="anchor" id="line-352"></span><span class="anchor" id="line-353"></span><span class="anchor" id="line-354"></span><span class="anchor" id="line-355"></span><span class="anchor" id="line-356"></span><span class="anchor" id="line-357"></span><span class="anchor" id="line-358"></span><span class="anchor" id="line-359"></span><span class="anchor" id="line-360"></span></li></ul><span class="anchor" id="line-64-1"></span><span class="anchor" id="line-65-1"></span><span class="anchor" id="line-66-1"></span><p class="line867">
</p><h4 id="Parameters">Parameters</h4>
<span class="anchor" id="line-67-1"></span><p class="line862">There are three categories of ROS <a href="http://wiki.ros.org/Parameters">Parameters</a> that can be used to configure the <tt class="backtick">amcl</tt> node: overall filter, laser model, and odometery model. <span class="anchor" id="line-68-1"></span><span class="anchor" id="line-69-1"></span></p><p class="line867">
</p><h5 id="Overall_filter_parameters">Overall filter parameters</h5>
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class="anchor" id="line-602"></span><span class="anchor" id="line-603"></span><span class="anchor" id="line-604"></span><span class="anchor" id="line-605"></span><span class="anchor" id="line-606"></span><span class="anchor" id="line-607"></span><span class="anchor" id="line-608"></span><span class="anchor" id="line-609"></span><span class="anchor" id="line-610"></span><span class="anchor" id="line-611"></span><span class="anchor" id="line-612"></span><span class="anchor" id="line-613"></span><span class="anchor" id="line-614"></span><span class="anchor" id="line-615"></span><tt class="backtick">~min_particles</tt> (<tt class="backtick">int</tt>, default: 100) <span class="anchor" id="line-616"></span></p><ul><li style="list-style-type:none">Minimum allowed number of particles. <span class="anchor" id="line-617"></span><span class="anchor" id="line-618"></span><span class="anchor" id="line-619"></span><span class="anchor" id="line-620"></span></li></ul><tt class="backtick">~max_particles</tt> (<tt class="backtick">int</tt>, default: 5000) <span class="anchor" id="line-621"></span><ul><li style="list-style-type:none">Maximum allowed number of particles. <span class="anchor" id="line-622"></span><span class="anchor" id="line-623"></span><span class="anchor" id="line-624"></span><span class="anchor" id="line-625"></span></li></ul><tt class="backtick">~kld_err</tt> (<tt class="backtick">double</tt>, default: 0.01) <span class="anchor" id="line-626"></span><ul><li style="list-style-type:none">Maximum error between the true distribution and the estimated distribution. <span class="anchor" id="line-627"></span><span class="anchor" id="line-628"></span><span class="anchor" id="line-629"></span><span class="anchor" id="line-630"></span></li></ul><tt class="backtick">~kld_z</tt> (<tt class="backtick">double</tt>, default: 0.99) <span class="anchor" id="line-631"></span><ul><li style="list-style-type:none">Upper
 standard normal quantile for (1 - p), where p is the probability that 
the error on the estimated distrubition will be less than <tt class="backtick">kld_err</tt>. <span class="anchor" id="line-632"></span><span class="anchor" id="line-633"></span><span class="anchor" id="line-634"></span><span class="anchor" id="line-635"></span></li></ul><tt class="backtick">~update_min_d</tt> (<tt class="backtick">double</tt>, default: 0.2 meters) <span class="anchor" id="line-636"></span><ul><li style="list-style-type:none">Translational movement required before performing a filter update. <span class="anchor" id="line-637"></span><span class="anchor" id="line-638"></span><span class="anchor" id="line-639"></span><span class="anchor" id="line-640"></span></li></ul><tt class="backtick">~update_min_a</tt> (<tt class="backtick">double</tt>, default: π/6.0 radians) <span class="anchor" id="line-641"></span><ul><li style="list-style-type:none">Rotational movement required before performing a filter update. <span class="anchor" id="line-642"></span><span class="anchor" id="line-643"></span><span class="anchor" id="line-644"></span><span class="anchor" id="line-645"></span></li></ul><tt class="backtick">~resample_interval</tt> (<tt class="backtick">int</tt>, default: 2) <span class="anchor" id="line-646"></span><ul><li style="list-style-type:none">Number of filter updates required before resampling. <span class="anchor" id="line-647"></span><span class="anchor" id="line-648"></span><span class="anchor" id="line-649"></span><span class="anchor" id="line-650"></span></li></ul><tt class="backtick">~transform_tolerance</tt> (<tt class="backtick">double</tt>, default: 0.1 seconds) <span class="anchor" id="line-651"></span><ul><li style="list-style-type:none">Time with which to post-date the transform that is published, to indicate that this transform is valid into the future. <span class="anchor" id="line-652"></span><span class="anchor" id="line-653"></span><span class="anchor" id="line-654"></span><span class="anchor" id="line-655"></span></li></ul><tt class="backtick">~recovery_alpha_slow</tt> (<tt class="backtick">double</tt>, default: 0.0 (<tt class="backtick">disabled</tt>)) <span class="anchor" id="line-656"></span><ul><li style="list-style-type:none">Exponential
 decay rate for the slow average weight filter, used in deciding when to
 recover by adding random poses. A good value might be 0.001. <span class="anchor" id="line-657"></span><span class="anchor" id="line-658"></span><span class="anchor" id="line-659"></span><span class="anchor" id="line-660"></span></li></ul><tt class="backtick">~recovery_alpha_fast</tt> (<tt class="backtick">double</tt>, default: 0.0 (<tt class="backtick">disabled</tt>)) <span class="anchor" id="line-661"></span><ul><li style="list-style-type:none">Exponential
 decay rate for the fast average weight filter, used in deciding when to
 recover by adding random poses. A good value might be 0.1. <span class="anchor" id="line-662"></span><span class="anchor" id="line-663"></span><span class="anchor" id="line-664"></span><span class="anchor" id="line-665"></span></li></ul><tt class="backtick">~initial_pose_x</tt> (<tt class="backtick">double</tt>, default: 0.0 meters) <span class="anchor" id="line-666"></span><ul><li style="list-style-type:none">Initial pose mean (x), used to initialize filter with Gaussian distribution. <span class="anchor" id="line-667"></span><span class="anchor" id="line-668"></span><span class="anchor" id="line-669"></span><span class="anchor" id="line-670"></span></li></ul><tt class="backtick">~initial_pose_y</tt> (<tt class="backtick">double</tt>, default: 0.0 meters) <span class="anchor" id="line-671"></span><ul><li style="list-style-type:none">Initial pose mean (y), used to initialize filter with Gaussian distribution. <span class="anchor" id="line-672"></span><span class="anchor" id="line-673"></span><span class="anchor" id="line-674"></span><span class="anchor" id="line-675"></span></li></ul><tt class="backtick">~initial_pose_a</tt> (<tt class="backtick">double</tt>, default: 0.0 radians) <span class="anchor" id="line-676"></span><ul><li style="list-style-type:none">Initial pose mean (yaw), used to initialize filter with Gaussian distribution. <span class="anchor" id="line-677"></span><span class="anchor" id="line-678"></span><span class="anchor" id="line-679"></span><span class="anchor" id="line-680"></span></li></ul><tt class="backtick">~initial_cov_xx</tt> (<tt class="backtick">double</tt>, default: 0.5*0.5 meters) <span class="anchor" id="line-681"></span><ul><li style="list-style-type:none">Initial pose covariance (x*x), used to initialize filter with Gaussian distribution. <span class="anchor" id="line-682"></span><span class="anchor" id="line-683"></span><span class="anchor" id="line-684"></span><span class="anchor" id="line-685"></span></li></ul><tt class="backtick">~initial_cov_yy</tt> (<tt class="backtick">double</tt>, default: 0.5*0.5 meters) <span class="anchor" id="line-686"></span><ul><li style="list-style-type:none">Initial pose covariance (y*y), used to initialize filter with Gaussian distribution. <span class="anchor" id="line-687"></span><span class="anchor" id="line-688"></span><span class="anchor" id="line-689"></span><span class="anchor" id="line-690"></span></li></ul><tt class="backtick">~initial_cov_aa</tt> (<tt class="backtick">double</tt>, default: (π/12)*(π/12) radian) <span class="anchor" id="line-691"></span><ul><li style="list-style-type:none">Initial pose covariance (yaw*yaw), used to initialize filter with Gaussian distribution. <span class="anchor" id="line-692"></span><span class="anchor" id="line-693"></span><span class="anchor" id="line-694"></span><span class="anchor" id="line-695"></span></li></ul><tt class="backtick">~gui_publish_rate</tt> (<tt class="backtick">double</tt>, default: -1.0 Hz) <span class="anchor" id="line-696"></span><ul><li style="list-style-type:none">Maximum rate (Hz) at which scans and paths are published for visualization, -1.0 to disable. <span class="anchor" id="line-697"></span><span class="anchor" id="line-698"></span><span class="anchor" id="line-699"></span><span class="anchor" id="line-700"></span></li></ul><tt class="backtick">~save_pose_rate</tt> (<tt class="backtick">double</tt>, default: 0.5 Hz) <span class="anchor" id="line-701"></span><ul><li style="list-style-type:none">Maximum
 rate (Hz) at which to store the last estimated pose and covariance to 
the parameter server, in the variables ~initial_pose_* and 
~initial_cov_*. This saved pose will be used on subsequent runs to 
initialize the filter. -1.0 to disable. <span class="anchor" id="line-702"></span><span class="anchor" id="line-703"></span><span class="anchor" id="line-704"></span><span class="anchor" id="line-705"></span></li></ul><tt class="backtick">~use_map_topic</tt> (<tt class="backtick">bool</tt>, default: false) <span class="anchor" id="line-706"></span><ul><li style="list-style-type:none">When set to true, AMCL will subscribe to the <tt class="backtick">map</tt> topic rather than making a service call to receive its map. <strong>New in navigation 1.4.2</strong> <span class="anchor" id="line-707"></span><span class="anchor" id="line-708"></span><span class="anchor" id="line-709"></span><span class="anchor" id="line-710"></span></li></ul><tt class="backtick">~first_map_only</tt> (<tt class="backtick">bool</tt>, default: false) <span class="anchor" id="line-711"></span><ul><li style="list-style-type:none">When set to true, AMCL will only use the first map it subscribes to, rather than updating each time a new one is received. <strong>New in navigation 1.4.2</strong> <span class="anchor" id="line-712"></span><span class="anchor" id="line-713"></span><span class="anchor" id="line-714"></span><span class="anchor" id="line-715"></span><span class="anchor" id="line-716"></span><span class="anchor" id="line-717"></span><span class="anchor" id="line-718"></span><span class="anchor" id="line-719"></span><span class="anchor" id="line-720"></span><span class="anchor" id="line-721"></span><span class="anchor" id="line-722"></span><span class="anchor" id="line-723"></span><span class="anchor" id="line-724"></span><span class="anchor" id="line-725"></span><span class="anchor" id="line-726"></span><span class="anchor" id="line-727"></span><span class="anchor" id="line-728"></span></li></ul><span class="anchor" id="line-157-2"></span><span class="anchor" id="line-158-2"></span><p class="line867">
</p><h5 id="Laser_model_parameters">Laser model parameters</h5>
<span class="anchor" id="line-159-2"></span><p class="line874">Note that
 whichever mixture weights are in use should sum to 1. The beam model 
uses all 4: z_hit, z_short, z_max, and z_rand. The likelihood_field 
model uses only 2: z_hit and z_rand. <span class="anchor" id="line-160-2"></span><span class="anchor" id="line-161-2"></span></p><p class="line867"><span class="anchor" id="line-162-2"></span><span class="anchor" id="line-163-2"></span><span class="anchor" id="line-164-2"></span><span class="anchor" id="line-165-2"></span><span class="anchor" id="line-166-2"></span><span class="anchor" id="line-167-2"></span><span class="anchor" id="line-168-2"></span><span class="anchor" id="line-169-2"></span><span class="anchor" id="line-170-2"></span><span class="anchor" id="line-171-2"></span><span class="anchor" id="line-172-2"></span><span class="anchor" id="line-173-2"></span><span class="anchor" id="line-174-2"></span><span class="anchor" id="line-175-2"></span><span class="anchor" id="line-176-2"></span><span class="anchor" id="line-177-2"></span><span class="anchor" id="line-178-2"></span><span class="anchor" id="line-179-2"></span><span class="anchor" id="line-180-2"></span><span class="anchor" id="line-181-2"></span><span class="anchor" id="line-182-2"></span><span class="anchor" id="line-183-2"></span><span class="anchor" id="line-184-2"></span><span class="anchor" id="line-185-2"></span><span class="anchor" id="line-186-2"></span><span class="anchor" id="line-187-2"></span><span class="anchor" id="line-188-2"></span><span class="anchor" id="line-189-2"></span><span class="anchor" id="line-190-2"></span><span class="anchor" id="line-191-2"></span><span class="anchor" id="line-192-2"></span><span class="anchor" id="line-193-2"></span><span class="anchor" id="line-194-2"></span><span class="anchor" id="line-195-2"></span><span class="anchor" id="line-196-2"></span><span class="anchor" id="line-197-2"></span><span class="anchor" id="line-198-2"></span><span class="anchor" id="line-199-2"></span><span class="anchor" id="line-200-2"></span><span class="anchor" id="line-201-2"></span><span class="anchor" id="line-202-2"></span><span class="anchor" 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class="anchor" id="line-356-2"></span><span class="anchor" id="line-357-2"></span><span class="anchor" id="line-358-2"></span><span class="anchor" id="line-359-2"></span><span class="anchor" id="line-360-2"></span><span class="anchor" id="line-361-1"></span><span class="anchor" id="line-362-1"></span><span class="anchor" id="line-363-1"></span><span class="anchor" id="line-364-1"></span><span class="anchor" id="line-365-1"></span><span class="anchor" id="line-366-1"></span><span class="anchor" id="line-367-1"></span><span class="anchor" id="line-368-1"></span><span class="anchor" id="line-369-1"></span><span class="anchor" id="line-370-1"></span><span class="anchor" id="line-371-1"></span><span class="anchor" id="line-372-1"></span><span class="anchor" id="line-373-1"></span><span class="anchor" id="line-374-1"></span><span class="anchor" id="line-375-1"></span><span class="anchor" id="line-376-1"></span><span class="anchor" id="line-377-1"></span><span class="anchor" id="line-378-1"></span><span class="anchor" id="line-379-1"></span><span class="anchor" id="line-380-1"></span><span class="anchor" id="line-381-1"></span><span class="anchor" id="line-382-1"></span><span class="anchor" id="line-383-1"></span><span class="anchor" id="line-384-1"></span><span class="anchor" id="line-385-1"></span><span class="anchor" id="line-386-1"></span><span class="anchor" id="line-387-1"></span><span class="anchor" id="line-388-1"></span><span class="anchor" id="line-389-1"></span><span class="anchor" id="line-390-1"></span><span class="anchor" id="line-391-1"></span><span class="anchor" id="line-392-1"></span><span class="anchor" id="line-393-1"></span><span class="anchor" id="line-394-1"></span><span class="anchor" id="line-395-1"></span><span class="anchor" id="line-396-1"></span><span class="anchor" id="line-397-1"></span><span class="anchor" id="line-398-1"></span><span class="anchor" id="line-399-1"></span><span class="anchor" id="line-400-1"></span><span class="anchor" id="line-401-1"></span><span class="anchor" id="line-402-1"></span><span class="anchor" id="line-403-1"></span><span class="anchor" id="line-404-1"></span><span class="anchor" id="line-405-1"></span><span class="anchor" id="line-406-1"></span><span class="anchor" id="line-407-1"></span><span class="anchor" id="line-408-1"></span><span class="anchor" id="line-409-1"></span><span class="anchor" id="line-410-1"></span><span class="anchor" id="line-411-1"></span><span class="anchor" id="line-412-1"></span><span class="anchor" id="line-413-1"></span><span class="anchor" id="line-414-1"></span><span class="anchor" id="line-415-1"></span><span class="anchor" id="line-416-1"></span><span class="anchor" id="line-417-1"></span><tt class="backtick">~laser_min_range</tt> (<tt class="backtick">double</tt>, default: -1.0) <span class="anchor" id="line-418-1"></span></p><ul><li style="list-style-type:none">Minimum scan range to be considered; -1.0 will cause the laser's reported minimum range to be used. <span class="anchor" id="line-419-1"></span><span class="anchor" id="line-420-1"></span><span class="anchor" id="line-421-1"></span><span class="anchor" id="line-422-1"></span></li></ul><tt class="backtick">~laser_max_range</tt> (<tt class="backtick">double</tt>, default: -1.0) <span class="anchor" id="line-423-1"></span><ul><li style="list-style-type:none">Maximum scan range to be considered; -1.0 will cause the laser's reported maximum range to be used. <span class="anchor" id="line-424-1"></span><span class="anchor" id="line-425-1"></span><span class="anchor" id="line-426-1"></span><span class="anchor" id="line-427-1"></span></li></ul><tt class="backtick">~laser_max_beams</tt> (<tt class="backtick">int</tt>, default: 30) <span class="anchor" id="line-428-1"></span><ul><li style="list-style-type:none">How many evenly-spaced beams in each scan to be used when updating the filter. <span class="anchor" id="line-429-1"></span><span class="anchor" id="line-430-1"></span><span class="anchor" id="line-431-1"></span><span class="anchor" id="line-432-1"></span></li></ul><tt class="backtick">~laser_z_hit</tt> (<tt class="backtick">double</tt>, default: 0.95) <span class="anchor" id="line-433-1"></span><ul><li style="list-style-type:none">Mixture weight for the z_hit part of the model. <span class="anchor" id="line-434-1"></span><span class="anchor" id="line-435-1"></span><span class="anchor" id="line-436-1"></span><span class="anchor" id="line-437-1"></span></li></ul><tt class="backtick">~laser_z_short</tt> (<tt class="backtick">double</tt>, default: 0.1) <span class="anchor" id="line-438-1"></span><ul><li style="list-style-type:none">Mixture weight for the z_short part of the model. <span class="anchor" id="line-439-1"></span><span class="anchor" id="line-440-1"></span><span class="anchor" id="line-441-1"></span><span class="anchor" id="line-442-1"></span></li></ul><tt class="backtick">~laser_z_max</tt> (<tt class="backtick">double</tt>, default: 0.05) <span class="anchor" id="line-443-1"></span><ul><li style="list-style-type:none">Mixture weight for the z_max part of the model. <span class="anchor" id="line-444-1"></span><span class="anchor" id="line-445-1"></span><span class="anchor" id="line-446-1"></span><span class="anchor" id="line-447-1"></span></li></ul><tt class="backtick">~laser_z_rand</tt> (<tt class="backtick">double</tt>, default: 0.05) <span class="anchor" id="line-448-1"></span><ul><li style="list-style-type:none">Mixture weight for the z_rand part of the model. <span class="anchor" id="line-449-1"></span><span class="anchor" id="line-450-1"></span><span class="anchor" id="line-451-1"></span><span class="anchor" id="line-452-1"></span></li></ul><tt class="backtick">~laser_sigma_hit</tt> (<tt class="backtick">double</tt>, default: 0.2 meters) <span class="anchor" id="line-453-1"></span><ul><li style="list-style-type:none">Standard deviation for Gaussian model used in z_hit part of the model. <span class="anchor" id="line-454-1"></span><span class="anchor" id="line-455-1"></span><span class="anchor" id="line-456-1"></span><span class="anchor" id="line-457-1"></span></li></ul><tt class="backtick">~laser_lambda_short</tt> (<tt class="backtick">double</tt>, default: 0.1) <span class="anchor" id="line-458-1"></span><ul><li style="list-style-type:none">Exponential decay parameter for z_short part of model. <span class="anchor" id="line-459-1"></span><span class="anchor" id="line-460-1"></span><span class="anchor" id="line-461-1"></span><span class="anchor" id="line-462-1"></span></li></ul><tt class="backtick">~laser_likelihood_max_dist</tt> (<tt class="backtick">double</tt>, default: 2.0 meters) <span class="anchor" id="line-463-1"></span><ul><li style="list-style-type:none">Maximum distance to do obstacle inflation on map, for use in likelihood_field model. <span class="anchor" id="line-464-1"></span><span class="anchor" id="line-465-1"></span><span class="anchor" id="line-466-1"></span><span class="anchor" id="line-467-1"></span></li></ul><tt class="backtick">~laser_model_type</tt> (<tt class="backtick">string</tt>, default: <tt class="backtick">"likelihood_field"</tt>) <span class="anchor" id="line-468-1"></span><ul><li style="list-style-type:none">Which model to use, either <tt class="backtick">beam</tt>, <tt class="backtick">likelihood_field</tt>, or <tt class="backtick">likelihood_field_prob</tt> (same as <tt class="backtick">likelihood_field</tt> but incorporates the beamskip feature, if enabled). <span class="anchor" id="line-469-1"></span><span class="anchor" id="line-470-1"></span><span class="anchor" id="line-471-1"></span><span class="anchor" id="line-472-1"></span><span class="anchor" id="line-473-1"></span><span class="anchor" id="line-474-1"></span><span class="anchor" id="line-475-1"></span><span class="anchor" id="line-476-1"></span><span class="anchor" id="line-477-1"></span><span class="anchor" id="line-478-1"></span><span class="anchor" id="line-479-1"></span><span class="anchor" id="line-480-1"></span><span class="anchor" id="line-481-1"></span><span class="anchor" id="line-482-1"></span><span class="anchor" id="line-483-1"></span><span class="anchor" id="line-484-1"></span><span class="anchor" id="line-485-1"></span></li></ul><span class="anchor" id="line-211-3"></span><span class="anchor" id="line-212-3"></span><p class="line867">
</p><h5 id="Odometry_model_parameters">Odometry model parameters</h5>
<span class="anchor" id="line-213-3"></span><p class="line862">If <tt class="backtick">~odom_model_type</tt> is <tt class="backtick">"diff"</tt> then we use the <tt class="backtick">sample_motion_model_odometry&nbsp;algorithm</tt> from Probabilistic Robotics, p136; this model uses the noise parameters <tt class="backtick">odom_alpha_1</tt> through <tt class="backtick">odom_alpha4</tt>, as defined in the book. <span class="anchor" id="line-214-3"></span><span class="anchor" id="line-215-3"></span></p><p class="line862">If <tt class="backtick">~odom_model_type</tt> is <tt class="backtick">"omni"</tt> then we use a custom model for an omni-directional base, which uses <tt class="backtick">odom_alpha_1</tt> through <tt class="backtick">odom_alpha_5</tt>. The meaning of the first four parameters is similar to that for the <tt class="backtick">"diff"</tt>
 model. The fifth parameter capture the tendency of the robot to 
translate (without rotating) perpendicular to the observed direction of 
travel. <span class="anchor" id="line-216-3"></span><span class="anchor" id="line-217-3"></span></p><p class="line862">A <a class="https" href="https://github.com/ros-planning/navigation/issues/20">bug</a>
 was found and fixed. But fixing the old models would have changed or 
broken the localisation of already tuned robot systems, so the new fixed
 odometry models were added as new types <tt class="backtick">"diff-corrected"</tt> and <tt class="backtick">"omni-corrected"</tt>. <span class="anchor" id="line-218-3"></span>The default settings of the <tt class="backtick">odom_alpha</tt> parameters only fit the old models, for the new model these values probably need to be a lot smaller, see <a class="http" href="http://answers.ros.org/question/227811/tuning-amcls-diff-corrected-and-omni-corrected-odom-models/">http://answers.ros.org/question/227811/tuning-amcls-diff-corrected-and-omni-corrected-odom-models/</a>. <span class="anchor" id="line-219-3"></span><span class="anchor" id="line-220-3"></span></p><p class="line867"><span class="anchor" id="line-221-3"></span><span class="anchor" id="line-222-3"></span><span class="anchor" id="line-223-3"></span><span class="anchor" id="line-224-3"></span><span class="anchor" id="line-225-3"></span><span class="anchor" id="line-226-3"></span><span class="anchor" id="line-227-3"></span><span 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id="line-370-2"></span><span class="anchor" id="line-371-2"></span><span class="anchor" id="line-372-2"></span><span class="anchor" id="line-373-2"></span><span class="anchor" id="line-374-2"></span><span class="anchor" id="line-375-2"></span><span class="anchor" id="line-376-2"></span><span class="anchor" id="line-377-2"></span><span class="anchor" id="line-378-2"></span><span class="anchor" id="line-379-2"></span><span class="anchor" id="line-380-2"></span><span class="anchor" id="line-381-2"></span><span class="anchor" id="line-382-2"></span><span class="anchor" id="line-383-2"></span><span class="anchor" id="line-384-2"></span><span class="anchor" id="line-385-2"></span><span class="anchor" id="line-386-2"></span><span class="anchor" id="line-387-2"></span><span class="anchor" id="line-388-2"></span><span class="anchor" id="line-389-2"></span><span class="anchor" id="line-390-2"></span><span class="anchor" id="line-391-2"></span><span class="anchor" id="line-392-2"></span><span class="anchor" id="line-393-2"></span><span class="anchor" id="line-394-2"></span><span class="anchor" id="line-395-2"></span><tt class="backtick">~odom_model_type</tt> (<tt class="backtick">string</tt>, default: <tt class="backtick">"diff"</tt>) <span class="anchor" id="line-396-2"></span></p><ul><li style="list-style-type:none">Which model to use, either <tt class="backtick">"diff"</tt>, <tt class="backtick">"omni"</tt>, <tt class="backtick">"diff-corrected"</tt> or <tt class="backtick">"omni-corrected"</tt>. <span class="anchor" id="line-397-2"></span><span class="anchor" id="line-398-2"></span><span class="anchor" id="line-399-2"></span><span class="anchor" id="line-400-2"></span></li></ul><tt class="backtick">~odom_alpha1</tt> (<tt class="backtick">double</tt>, default: 0.2) <span class="anchor" id="line-401-2"></span><ul><li style="list-style-type:none">Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion. <span class="anchor" id="line-402-2"></span><span class="anchor" id="line-403-2"></span><span class="anchor" id="line-404-2"></span><span class="anchor" id="line-405-2"></span></li></ul><tt class="backtick">~odom_alpha2</tt> (<tt class="backtick">double</tt>, default: 0.2) <span class="anchor" id="line-406-2"></span><ul><li style="list-style-type:none">Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. <span class="anchor" id="line-407-2"></span><span class="anchor" id="line-408-2"></span><span class="anchor" id="line-409-2"></span><span class="anchor" id="line-410-2"></span></li></ul><tt class="backtick">~odom_alpha3</tt> (<tt class="backtick">double</tt>, default: 0.2) <span class="anchor" id="line-411-2"></span><ul><li style="list-style-type:none">Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. <span class="anchor" id="line-412-2"></span><span class="anchor" id="line-413-2"></span><span class="anchor" id="line-414-2"></span><span class="anchor" id="line-415-2"></span></li></ul><tt class="backtick">~odom_alpha4</tt> (<tt class="backtick">double</tt>, default: 0.2) <span class="anchor" id="line-416-2"></span><ul><li style="list-style-type:none">Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. <span class="anchor" id="line-417-2"></span><span class="anchor" id="line-418-2"></span><span class="anchor" id="line-419-2"></span><span class="anchor" id="line-420-2"></span></li></ul><tt class="backtick">~odom_alpha5</tt> (<tt class="backtick">double</tt>, default: 0.2) <span class="anchor" id="line-421-2"></span><ul><li style="list-style-type:none">Translation-related noise parameter (only used if model is <tt class="backtick">"omni"</tt>). <span class="anchor" id="line-422-2"></span><span class="anchor" id="line-423-2"></span><span class="anchor" id="line-424-2"></span><span class="anchor" id="line-425-2"></span></li></ul><tt class="backtick">~odom_frame_id</tt> (<tt class="backtick">string</tt>, default: <tt class="backtick">"odom"</tt>) <span class="anchor" id="line-426-2"></span><ul><li style="list-style-type:none">Which frame to use for odometry. <span class="anchor" id="line-427-2"></span><span class="anchor" id="line-428-2"></span><span class="anchor" id="line-429-2"></span><span class="anchor" id="line-430-2"></span></li></ul><tt class="backtick">~base_frame_id</tt> (<tt class="backtick">string</tt>, default: <tt class="backtick">"base_link"</tt>) <span class="anchor" id="line-431-2"></span><ul><li style="list-style-type:none">Which frame to use for the robot base <span class="anchor" id="line-432-2"></span><span class="anchor" id="line-433-2"></span><span class="anchor" id="line-434-2"></span><span class="anchor" id="line-435-2"></span></li></ul><tt class="backtick">~global_frame_id</tt> (<tt class="backtick">string</tt>, default: <tt class="backtick">"map"</tt>) <span class="anchor" id="line-436-2"></span><ul><li style="list-style-type:none">The name of the coordinate frame published by the localization system <span class="anchor" id="line-437-2"></span><span class="anchor" id="line-438-2"></span><span class="anchor" id="line-439-2"></span><span class="anchor" id="line-440-2"></span></li></ul><tt class="backtick">~tf_broadcast</tt> (<tt class="backtick">bool</tt>, default: true) <span class="anchor" id="line-441-2"></span><ul><li style="list-style-type:none">Set this to <tt class="backtick">false</tt> to prevent amcl from publishing the transform between the global frame and the odometry frame. <span class="anchor" id="line-442-2"></span><span class="anchor" id="line-443-2"></span><span class="anchor" id="line-444-2"></span><span class="anchor" id="line-445-2"></span><span class="anchor" id="line-446-2"></span><span class="anchor" id="line-447-2"></span><span class="anchor" id="line-448-2"></span><span class="anchor" id="line-449-2"></span><span class="anchor" id="line-450-2"></span><span class="anchor" id="line-451-2"></span><span class="anchor" id="line-452-2"></span><span class="anchor" id="line-453-2"></span><span class="anchor" id="line-454-2"></span><span class="anchor" id="line-455-2"></span><span class="anchor" id="line-456-2"></span><span class="anchor" id="line-457-2"></span><span class="anchor" id="line-458-2"></span></li></ul><span class="anchor" id="line-266-4"></span><span class="anchor" id="line-267-4"></span><p class="line867">
</p><h4 id="Transforms">Transforms</h4>
<span class="anchor" id="line-268-4"></span><p class="line867"><tt class="backtick">amcl</tt> transforms incoming laser scans to the odometry frame (<tt class="backtick">~odom_frame_id</tt>).  So there must exist a path through the <a href="http://wiki.ros.org/tf">tf</a> tree from the frame in which the laser scans are published to the odometry frame.   <span class="anchor" id="line-269-4"></span><span class="anchor" id="line-270-4"></span></p><p class="line862">An implementation detail: on receipt of the first laser scan, <tt class="backtick">amcl</tt> looks up the transform between the laser's frame and the base frame (~base_frame_id), and latches it forever.  So <tt class="backtick">amcl</tt> cannot handle a laser that moves with respect to the base. <span class="anchor" id="line-271-4"></span><span class="anchor" id="line-272-4"></span></p><p class="line862">The drawing below shows the difference between localization using odometry and <tt class="backtick">amcl</tt>. During operation <tt class="backtick">amcl</tt> estimates the transformation of the base frame (~base_frame_id) in respect to the global frame (<tt class="backtick">~global_frame_id</tt>) but it only publishes the transform between the global frame and the odometry frame (<tt class="backtick">~odom_frame_id</tt>). Essentially, this transform accounts for the drift that occurs using Dead Reckoning. The published transforms are <a href="http://wiki.ros.org/tf/FAQ#Why_do_I_see_negative_average_delay_in_tf_monitor.3F">future dated</a>. <span class="anchor" id="line-273-4"></span><span class="anchor" id="line-274-4"></span></p><p class="line867"><img alt="amcl_localization.png" class="attachment" src="amcl_files/amcl.png" title="amcl_localization.png" width="750px"> <span class="anchor" id="line-275-4"></span><span class="anchor" id="line-276-4"></span></p><p class="line867"><span class="anchor" id="line-277-4"></span></p><p class="line867"><span class="anchor" id="line-278-4"></span></p><p class="line867"><span class="anchor" id="line-279-4"></span><span class="anchor" id="bottom"></span></p></div></div>
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<p id="pageinfo" class="info" dir="ltr" lang="en">Wiki: amcl  (last edited 2016-08-18 15:38:36 by <span title="FlorianSteinhardt @ p54B21C91.dip0.t-ipconnect.de[84.178.28.145]"><a class="nonexistent" href="http://wiki.ros.org/FlorianSteinhardt" title="FlorianSteinhardt @ p54B21C91.dip0.t-ipconnect.de[84.178.28.145]">FlorianSteinhardt</a></span>)</p>




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